Visual servoing with quick eye-vergence to enhance trackability and stability

Biped locomotion created by a controller based on Zero-Moment Point [ZMP] known as reliable control method looks different from human's walking on the view point that ZMP-based walking does not include falling state. However, the walking control that does not depend on ZMP is vulnerable to turnover. Therefore, keeping the event-driven walking of dynamical motion stable is important issue for realization of human-like natural walking. In this paper, walking model of humanoid including slipping, bumping, surface-contacting and point-contacting of foot is discussed, and its dynamical equation is derived by Newton-Euler method. Then, we propose walking stabilizer named "Visual Lifting Stabilization" strategy to enhance standing robustness and prevent the robot from falling down. Simulation results indicate that this strategy helps stabilize pose and bipedal walking even though ZMP is not kept inside convex hull of supporting area.

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Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition

Maeba

Minami

Yanou

et al. 2012

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Sensor guided robot path generation for repair of buoyancy module

Deng

Sam

Tao

et al. 2015

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Visual Lifting stabilization of dynamic Bipedal Walking

Song

Minami

Maeba

et al. 2011

2011 11th IEEE-RAS International Conference on Humanoid Robots

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Although many papers have been published on visual tracking and visual servoing of the vision-based robotics,there are only few research studies on using vision to improve the standing and walking stabilization for legged robots. In this paper, we propose a "Visual Lifting Bipedal Walking" strategy, which uses visually measured information to control the robot for keeping a desired head-top's position/orientation, to help the robot prevent falling from unstable gaits, such as falling down to ground caused by gravity, undesired dynamical coupling or dangerous foot-slipping motion.

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Visual servoing with quick eye-vergence to enhance trackability and stability

Cited by 12 publications

References 15 publications

Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition

Dynamical analyses of humanoid's walking by visual lifting stabilization based on event-driven state transition

Sensor guided robot path generation for repair of buoyancy module

Visual Lifting stabilization of dynamic Bipedal Walking

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